Vehicle charging queuing scheduling methods, devices, equipment and storage media

Abstract

This application discloses a vehicle charging queuing scheduling method, apparatus, device, and storage medium, relating to the field of charging technology. Applied to a scheduling server, the method includes: acquiring the required power, remaining power, and travel time of each vehicle in at least one queuing vehicle, where the required power is the power consumed by the vehicle to complete its task, and the travel time is the time it takes for the vehicle to travel from its current location to the charging equipment; determining the charging time of each vehicle based on its required power; determining the charging priority of at least one vehicle based on its charging and travel times; and sending the charging priority to at least one vehicle, wherein the charging priority is used by at least one vehicle to charge via the charging equipment in the order of its priority.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of charging, and particularly relates to a vehicle charging queuing scheduling method and device, equipment and a storage medium. BACKGROUND

[0002] With the development and progress of science and technology, more and more work tasks in closed areas (such as ports) are performed by unmanned vehicles. Most of the vehicles performing work tasks in the existing closed areas are electric unmanned container trucks. Since the power battery capacity of the electric unmanned container truck is limited, the power battery needs to be charged in time to ensure that the vehicle can successfully complete the work task. However, at present, when there is at least one vehicle that needs to be charged, if each vehicle drives away from the charging pile to perform a work task only after being fully charged, the overall work efficiency of the closed area will be reduced. SUMMARY

[0003] The embodiments of the application provide a vehicle charging queuing scheduling method, device, equipment and storage medium, which can improve the overall work efficiency of the closed area.

[0004] In a first aspect, the embodiments of the application provide a vehicle charging queuing scheduling method, applied to a scheduling server, and the method comprises the following steps.

[0005] Obtaining the required power, the residual power and the driving time length of each of at least one vehicle to be charged and queued, wherein the required power is the power consumed by the vehicle to be charged and queued to complete a work task, and the driving time length is the time length for the vehicle to be charged and queued to drive from a current position to a charging device;

[0006] Determining the charging time length of each of the vehicles to be charged and queued based on the required power of each of the vehicles to be charged and queued;

[0007] Determining the charging priority of the at least one vehicle to be charged and queued based on the charging time length and the driving time length of each of the vehicles to be charged and queued;

[0008] Sending the charging priority to the at least one vehicle to be charged and queued, wherein the charging priority is used for the at least one vehicle to be charged and queued to be charged by the charging device in the order of the charging priority.

[0009] In a second aspect, the embodiments of the application provide a vehicle charging queuing scheduling device, applied to a scheduling server, and the device comprises the following steps.

[0010] The first obtaining module is configured to obtain required power, residual power and driving duration of each of the at least one queuing vehicle to be charged, wherein the required power is the power consumed by the queuing vehicle to be charged to complete a task, and the driving duration is the duration for the queuing vehicle to be charged to travel from a current position to a charging device;

[0011] The first determining module is configured to determine the charging duration of each of the queuing vehicles to be charged based on the required power of each of the queuing vehicles to be charged.

[0012] The second determining module is configured to determine the charging priority of the at least one queuing vehicle to be charged based on the charging duration and the driving duration of each of the queuing vehicles to be charged.

[0013] The sending module is configured to send the charging priority to the at least one queuing vehicle to be charged, wherein the charging priority is used for the at least one queuing vehicle to be charged to be charged by the charging device in the order of the charging priority.

[0014] In a third aspect, an electronic device is provided, which includes a processor and a memory storing computer program instructions; and the processor implements the vehicle charging queuing scheduling method according to any one of the preceding aspects when executing the computer program instructions.

[0015] In a fourth aspect, a computer readable storage medium is provided, which stores computer program instructions; and the computer program instructions are executed by a processor to implement the vehicle charging queuing scheduling method according to any one of the preceding aspects.

[0016] The vehicle charging queuing scheduling method, device, electronic device and storage medium provided in the embodiments of the present application are applied to a scheduling server, which can determine the charging duration of each of the at least one queuing vehicle to be charged based on the required power of each of the at least one queuing vehicle to be charged, determine the charging priority of the at least one queuing vehicle to be charged based on the charging duration and the driving duration of each of the at least one queuing vehicle to be charged, and finally send the charging task and the position information of the charging area to the at least one queuing vehicle to be charged in the order of the charging priority, wherein the charging priority is used for the at least one queuing vehicle to be charged to be charged by the charging device in the order of the charging priority. In this way, in the embodiments of the present application, the charging priority of the at least one queuing vehicle to be charged can be determined based on the charging duration and the driving duration of each of the at least one queuing vehicle to be charged, so that each of the queuing vehicles to be charged can be charged in the order of the charging priority and charged to the required power as soon as possible to perform a task, thereby improving the overall work efficiency of the closed area. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced as follows, and other drawings can also be obtained by those of ordinary skill in the art without creative labor on the premise of not paying creative labor.

[0018] Figure 1 is a flowchart of a vehicle charging queuing scheduling method provided by the embodiments of the present application;

[0019] Figure 2 is a simple diagram of an unmanned container truck operating in a closed area provided by the embodiments of the present application;

[0020] Figure 3 is an information interaction diagram of an unmanned container truck, a scheduling server and an automatic charging pile provided by the embodiments of the present application;

[0021] Figure 4 is a flowchart of a charging queuing scheduling method based on a task list and a vehicle list provided by the embodiments of the present application;

[0022] Figure 5 is a flowchart of a port unmanned container truck charging fault processing method provided by the embodiments of the present application;

[0023] Figure 6 is a structural schematic diagram of a vehicle charging queuing scheduling device provided by the embodiments of the present application;

[0024] Figure 7 is a structural schematic diagram of an electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0025] The features and exemplary embodiments of various aspects of the present application will be described in detail below, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of these specific details by those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0026] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0027] With the development and progress of science and technology, more and more work tasks in closed areas (for example, ports) are performed by unmanned vehicles. Most of the vehicles performing work tasks in the existing closed areas are electric unmanned container trucks (referred to as unmanned container trucks for short). Since the power battery capacity of the electric unmanned container truck is limited, the power battery needs to be charged in time to ensure that the vehicle can successfully complete the work task. However, at present, when there is at least one vehicle that needs to be charged, if each vehicle drives away from the charging pile to perform a work task only after being fully charged, the overall work efficiency of the closed area will be reduced.

[0028] In order to solve the problems in the prior art, the embodiments of the present application provide a vehicle charging queuing scheduling method, device, equipment and storage medium. First, the vehicle charging queuing scheduling method provided by the embodiments of the present application will be introduced.

[0029] Figure 1 The flowchart of the vehicle charging queuing scheduling method provided by an embodiment of the present application is shown. As shown in Figure 1 The vehicle charging queuing scheduling method is applied to a scheduling server, and the method includes the following steps S101 to S104.

[0030] S101, the demand power, the remaining power and the driving time length of each of the at least one vehicle to be charged and queued are obtained. The demand power is the power consumed by the vehicle to be charged and queued to complete a work task, and the driving time length is the time length for the vehicle to be charged and queued to drive from the current position to the charging device.

[0031] S102, the charging time length of each vehicle to be charged and queued is determined based on the demand power of each vehicle to be charged and queued.

[0032] S103, the charging priority of the at least one vehicle to be charged and queued is determined based on the charging time length and the driving time length of each vehicle to be charged and queued.

[0033] S104, send the charging priority to the at least one queued vehicle to be charged, wherein the charging priority is used for the at least one queued vehicle to be charged to be charged by the charging device in the order of the charging priority.

[0034] The vehicle charging queuing scheduling method of the embodiments of the present application is applied to a scheduling server, and can determine the charging duration of each queued vehicle to be charged based on the required power of each queued vehicle to be charged in the at least one queued vehicle to be charged, determine the charging priority of the at least one queued vehicle to be charged based on the charging duration and the driving duration of each queued vehicle to be charged, and finally the scheduling server sends the charging task and the position information of the charging area to the at least one queued vehicle to be charged in the order of the charging priority. In this way, in the embodiments, the charging priority of the at least one queued vehicle to be charged can be determined based on the charging duration and the driving duration of each queued vehicle to be charged in the at least one queued vehicle to be charged, so that each queued vehicle to be charged can be charged by the charging device in the order of the charging priority, and can be charged to the required power as soon as possible to perform the work task, thereby improving the overall work efficiency of the closed area.

[0035] The vehicle charging queuing scheduling method described above is mainly applied to a scheduling server, wherein the scheduling server can be a terminal device with data processing capability such as a physical server or a cloud server, and the present application is not limited thereto and is not specifically limited herein.

[0036] In some embodiments, the scheduling server is a cloud server, and can be in communication connection with the at least one queued vehicle to be charged and the charging device.

[0037] The specific implementation of each step is described below.

[0038] In S101, the at least one queued vehicle to be charged can be determined as a queued vehicle to be charged when the number of vehicles to be charged is greater than the number of idle charging devices. The vehicle to be charged can be a vehicle whose remaining power is less than or equal to a first threshold value, or a vehicle whose remaining power is greater than the first threshold value and whose remaining power is less than the required power. The first threshold value is the minimum power to ensure the service life of the power battery. When the remaining power of the vehicle is less than or equal to the first threshold value, it means that the vehicle must be charged. For example, the vehicles in a closed area (such as a port) can be electric unmanned container trucks.

[0039] The charging device described above can include automatic charging piles and manual charging piles. In the embodiments, the number of automatic charging piles is greater than that of manual charging piles, and the charging speed of automatic charging piles is faster than that of manual charging piles.

[0040] The required power is the power consumed by the queued vehicle to complete the work task.

[0041] The residual power is the power remaining in the power battery of the queued vehicle to be charged.

[0042] The driving time is the time for the queued vehicle to be charged to travel from the current position to the charging device, which can be a preset value manually input by the user, or can be obtained based on the first distance of each queued vehicle to be charged divided by the speed information.

[0043] The required power of each queued vehicle to be charged can be a preset value manually input by the user, or can be determined based on the first distance and the speed information of each queued vehicle to be charged.

[0044] In some embodiments, in order to accurately calculate the driving time of each queued vehicle to be charged, before S101, the method can further include:

[0045] Obtaining the first distance and the speed information of each queued vehicle to be charged, the first distance being the distance from the current position of the queued vehicle to be charged to the charging area;

[0046] Based on the first distance and the speed information of each queued vehicle to be charged, the driving time of each queued vehicle to be charged is determined.

[0047] The first distance of each queued vehicle to be charged can be determined based on the current position of the vehicle, the position of the charging device, and the map of the closed area, that is, the distance from the current position of the queued vehicle to be charged to the charging area.

[0048] Based on the first distance and the speed information of each queued vehicle to be charged, the driving time of each queued vehicle to be charged can be obtained by dividing the first distance of each queued vehicle to be charged by the speed information.

[0049] In this embodiment, the first distance and the speed information of each queued vehicle to be charged can be used to accurately determine the driving time of each queued vehicle to be charged, so as to accurately determine the charging priority of each queued vehicle to be charged in the at least one queued vehicle to be charged.

[0050] In some embodiments, in order to accurately calculate the required power of each queued vehicle to be charged, S101 can specifically include:

[0051] Obtaining work task information of each queued vehicle to be charged, the work task information including a pre-consumed power of the queued vehicle to be charged to perform a work task and a second distance of the work task;

[0052] determine the first driving power consumption of each of the queuing vehicles to be charged according to the second distance value of each of the queuing vehicles to be charged;

[0053] add the pre-power consumption and the first driving power consumption of each of the queuing vehicles to be charged to obtain the required power consumption of each of the queuing vehicles to be charged.

[0054] The above task information can include a pre-power consumption of the queuing vehicle to be charged for performing a task and a second distance of the task. The second distance is the distance from the charging area to the task area of the queuing vehicle to be charged, and the pre-power consumption is the power consumption of the queuing vehicle to be charged for performing the task.

[0055] The above obtaining of the task information of each of the queuing vehicles to be charged can collect all the loading and unloading task lists uploaded to the dispatch server, wherein the task list includes the corresponding task assigned to each of the queuing vehicles to be charged, the second distance of each task, and the pre-power consumption of performing the task.

[0056] It should be noted that due to the difference between each task, the pre-power consumption of each vehicle for performing the task also has certain difference, but the pre-power consumption of each task has little difference. In some embodiments, the pre-power consumption of each task can be defined as the same value, or can be set as a value consistent with the actual situation.

[0057] The above determination of the first driving power consumption of each of the queuing vehicles to be charged according to the second distance value of each of the queuing vehicles to be charged can be multiplying the second distance value of each of the queuing vehicles to be charged by the power consumption per kilometer of the vehicle to obtain the first driving power consumption of each of the queuing vehicles to be charged. The power consumption per kilometer of the vehicle is a preset constant greater than zero.

[0058] In this embodiment, the first driving power consumption of each of the queuing vehicles to be charged is determined according to the second distance value of each of the queuing vehicles to be charged, and the pre-power consumption of each of the queuing vehicles to be charged is added, so that the required power consumption of each of the queuing vehicles to be charged can be accurately determined, and the charging time of each of the queuing vehicles to be charged in at least one of the queuing vehicles to be charged can be accurately determined.

[0059] In S102, the above determination of the charging time of each of the queuing vehicles to be charged based on the required power consumption of each of the queuing vehicles to be charged can be multiplying the required power consumption by a preset parameter to obtain the charging time, and the preset parameter can be the ratio of the charging coefficient to the charging current; or the charging time of each of the queuing vehicles to be charged is determined based on the required power consumption of each of the queuing vehicles to be charged, the battery rated capacity, and the initial charging current.

[0060] As an implementation form of the present application, in order to accurately calculate the charging time of each queued vehicle to be charged, before the step S102, the method can further include:

[0061] obtaining an initial charging current of the charging device and a battery rated capacity of each queued vehicle to be charged;

[0062] The step S102 can specifically include:

[0063] determining the charging time of each queued vehicle to be charged based on the required power of each queued vehicle to be charged, the battery rated capacity and the initial charging current.

[0064] The initial charging current can be the current with which the charging device initially charges the queued vehicle to be charged. Since the charging current changes with the charging power of the power battery, for example, as the charging time of the power battery increases, the charging current will decrease non-linearly compared with the initial charging current.

[0065] The battery rated capacity can refer to the capacity of the motor or electrical appliance that can be continuously operated under the rated working condition as indicated on the battery nameplate.

[0066] In some embodiments, the determination of the charging time of each queued vehicle to be charged based on the required power of each queued vehicle to be charged, the battery rated capacity and the initial charging current can specifically include:

[0067] calculating the ratio of the initial charging current to the required power of each queued vehicle to be charged to determine the charging acceptance ratio of each queued vehicle to be charged;

[0068] determining the charging current of each queued vehicle to be charged based on the charging acceptance ratio and the initial charging current of each queued vehicle to be charged;

[0069] determining the charging time of each queued vehicle to be charged based on the charging current, the battery rated capacity and the required power of each queued vehicle to be charged.

[0070] The calculation of the ratio of the initial charging current to the required power of each queued vehicle to be charged to determine the charging acceptance ratio of each queued vehicle to be charged can exemplarily be:

[0071] α = I0 / S N Formula (1)

[0072] wherein I0 represents the initial charging current; S N represents the required power; and α represents the charging acceptance ratio, which is the ratio of the initial charging current to the required power.

[0073] The determination of the charging current of each charging queue vehicle based on the charging acceptance ratio and the initial charging current may be, for example:

[0074] I = I0 x e -αt Equation (2)

[0075] wherein I represents the charging current, which varies with time t; t represents the charging time; I0 represents the initial charging current; a represents the charging acceptance ratio; and e is the base of natural logarithm.

[0076] The determination of the charging time of each charging queue vehicle based on the charging current, the battery rated capacity and the required power may be, for example:

[0077] S N = 1 - (∫Idt) / Q Equation (3)

[0078] wherein t represents the charging time; I represents the charging current, which varies with time t; S N represents the required power; and Q represents the battery rated capacity.

[0079] The charging time of each charging queue vehicle can be uniquely determined by inputting the charging current, the battery rated capacity and the required power of each charging queue vehicle into the above equation (3), and the charging time represents the charging time of the charging queue vehicle to the required power.

[0080] In this embodiment, the charging time of each charging queue vehicle can be accurately determined based on the required power, the battery rated capacity and the initial charging current of each charging queue vehicle, so as to accurately determine the charging priority of each charging queue vehicle in the at least one charging queue vehicle.

[0081] In S103, the charging priority may be indicative of the charging sequence of each charging queue vehicle in the at least one charging queue vehicle, and may be, for example, set to be higher priority corresponding to shorter charging queue time, or may be set to be higher priority corresponding to longer charging queue time.

[0082] The determination of the charging priority of the at least one charging queue vehicle based on the charging time and the driving time of each charging queue vehicle may be, for example, the sum of the charging time and the driving time of each charging queue vehicle, and the charging priority of the at least one charging queue vehicle is determined according to the size order of the sum of the time, and in this embodiment, shorter charging queue time corresponds to higher priority.

[0083] In S104, the charging priority may be used for the at least one charging queue vehicle to be charged by the charging device in the order of the charging priority.

[0084] The charging priority can be sent to the at least one queued vehicle to be charged by the dispatch server through wireless communication, and the dispatch server sequentially sends the charging task and the location information of the charging area to the at least one queued vehicle to be charged according to the order of the charging priority. The dispatch server is in communication connection with each queued vehicle to be charged. In this embodiment, the communication mode is not limited to wireless communication, and can also be other communication modes, which are not limited in this application.

[0085] As another implementation manner of the application, in order to accurately identify the queued vehicle to be charged, before the step S101, the method can further include:

[0086] obtaining the residual power of the at least one vehicle to be charged;

[0087] In the case that the residual power of the vehicle to be charged is less than or equal to the first threshold value, the vehicle to be charged is determined as the queued vehicle to be charged.

[0088] obtaining the number of vehicles to be charged and the number of idle charging devices, the idle charging device being a charging device in a normal state;

[0089] In the case that the number of devices is less than the number of vehicles, the vehicle to be charged is determined as the queued vehicle to be charged.

[0090] The vehicle to be charged is a vehicle to which the dispatch server has assigned a task.

[0091] The first threshold value can be the minimum power that guarantees the service life of the power battery, and when the residual power of the vehicle is less than or equal to the first threshold value, it means that the vehicle must be charged.

[0092] The state of the charging device can include a normal state, a charging state and a fault state, wherein the normal state can indicate that the charging device is in an idle and normal state.

[0093] The number of vehicles to be charged and the number of idle charging devices can be obtained by the dispatch server receiving the number of idle charging devices sent by the idle charging device and receiving the number of vehicles to be charged sent by the vehicle to be charged through wireless communication.

[0094] The case that the number of devices is less than the number of vehicles means that all the vehicles to be charged cannot be charged at the same time, and therefore, in order to ensure the overall work efficiency of the closed area, the vehicles to be charged need to be queued and dispatched.

[0095] In this embodiment, the residual power of the vehicle to be charged is compared with the first threshold value to determine the vehicle to be charged, and the number of vehicles to be charged is compared with the number of idle charging devices to accurately identify the queued vehicle to be charged.

[0096] In some embodiments, in order to improve the overall operation efficiency of the closed area, before the above obtaining the number of vehicles to be charged and the number of idle charging devices, it can also include:

[0097] In the case that the remaining power of the task vehicle to be operated is greater than the first threshold, obtaining the operation task information of the task vehicle to be operated, the operation task information including the first operation sub-task pre-consumption sub-electric quantity of the task vehicle to be operated and the third distance of the first operation sub-task;

[0098] Based on the third distance value of the task vehicle to be operated, determining the second driving power consumption of the task vehicle to be operated;

[0099] Based on the pre-consumption sub-electric quantity and the second driving power consumption of the task vehicle to be operated, determining the demand sub-electric quantity of the task vehicle to be operated;

[0100] In the case that the remaining power of the task vehicle to be operated is less than the demand sub-electric quantity, the task vehicle to be operated is determined as the vehicle to be charged.

[0101] The operation task information of the above task vehicle to be operated can include the pre-consumption sub-electric quantity of the first operation sub-task and the third distance of the first operation sub-task.

[0102] The third distance can be the distance from the current position of the task vehicle to be operated to the operation area.

[0103] The operation task to be performed by each task vehicle to be operated includes at least one operation sub-task, and the first operation sub-task is any one of the multiple operation sub-tasks to be performed by the task vehicle to be operated, and the pre-consumption sub-electric quantity of each operation sub-task is pre-set.

[0104] The second driving power consumption can be used to represent the driving power consumption of the task vehicle to be operated from the current position to the operation area.

[0105] Based on the third distance of the task vehicle to be operated, the second driving power consumption of the task vehicle to be operated can be obtained by multiplying the third distance of the task vehicle to be operated by the power consumption per kilometer of the vehicle.

[0106] Based on the pre-consumption sub-electric quantity and the second driving power consumption of the task vehicle to be operated, the demand sub-electric quantity of the task vehicle to be operated can be obtained by adding the pre-consumption sub-electric quantity and the second driving power consumption of the task vehicle to be operated.

[0107] It should be noted that in the case that the remaining power of the task vehicle to be operated is greater than or equal to the demand sub-electric quantity, the task vehicle to be operated performs the operation task.

[0108] In the embodiment, in the case that the remaining power of the to-be-operated task vehicle is less than the required sub-power, the to-be-operated task vehicle is determined as the to-be-charged vehicle, otherwise, in the case that the remaining power of the to-be-operated task vehicle is greater than or equal to the required sub-power, the to-be-operated task vehicle is caused to perform the operation task, thereby improving the overall operation efficiency of the closed area.

[0109] As an implementation manner of the present application, in order to improve the operation efficiency of the to-be-charged queuing vehicle, after the step S104, the method can further include:

[0110] issuing a charging instruction to the charging device, the charging instruction being used for the charging device to charge the to-be-charged queuing vehicle;

[0111] receiving charging result information sent by the to-be-charged queuing vehicle, the charging result information indicating charging success or charging failure of the to-be-charged queuing vehicle;

[0112] in the case that the charging result information indicates the charging success of the to-be-charged queuing vehicle, sending an execution instruction to the to-be-charged queuing vehicle, the execution instruction being used for the to-be-charged queuing vehicle to perform the operation task.

[0113] The charging of the to-be-charged queuing vehicle by the charging device can be charging between the charging device and the to-be-charged queuing vehicle through a serial communication protocol, and the charging process conforms to GB / T 27930-2015 “Communication Protocol between Electric Vehicle Non-vehicle Conductive Charger and Battery Management System”. For example, the unmanned container truck sends charging parameters, battery charging needs, and battery charging total status information to the automatic charging pile; the automatic charging pile sends charger maximum output capacity and charger charging information to the unmanned container truck.

[0114] In the embodiment, the to-be-charged queuing vehicle is charged by the charging device through the charging instruction, and the execution instruction is sent to the to-be-charged queuing vehicle in time according to the charging result information fed back by the to-be-charged queuing vehicle, so as to start the to-be-charged queuing vehicle to perform the operation task, thereby improving the operation efficiency of the to-be-charged queuing vehicle.

[0115] In some embodiments, in order to improve the charging success rate of the to-be-charged queuing vehicle, after the receiving of the charging result information sent by the to-be-charged queuing vehicle, the method can further include:

[0116] in the case that the charging result information indicates the charging failure of the to-be-charged queuing vehicle, obtaining a charging suspension reason sent by the to-be-charged queuing vehicle;

[0117] in the preset plurality of fault processing schemes, determining a target processing scheme corresponding to the charging suspension reason;

[0118] The target processing scheme is executed to continue charging the queued vehicle to be charged.

[0119] The plurality of fault processing schemes are preset in the scheduling server, and the scheduling server further comprises a charging suspension reason corresponding to each fault processing scheme. Illustratively, the scheduling server can process faults according to GB / T 27930-2015 “Communication Protocol between Electric Vehicle Non-vehicle Conductive Charger and Battery Management System”.

[0120] When the charging suspension reason is that the automatic charging device fails, the charging mode is changed to manual charging; if the queued vehicle to be charged fails, the charging is stopped; and if the queued vehicle to be charged does not fail, the automatic charging is tried again.

[0121] In the embodiment, when the charging result information indicates that the queued vehicle to be charged fails to charge, the corresponding fault processing scheme is found in the scheduling server according to the charging suspension reason fed back by the queued vehicle to be charged, so that the fault processing is performed in time to resume the charging of the queued vehicle to be charged, thereby improving the charging success rate of the queued vehicle to be charged.

[0122] In order to facilitate the understanding of the vehicle charging queuing scheduling method in the embodiments of the present application, the application process of the vehicle charging queuing scheduling method is described as follows.

[0123] The present application takes a port as an example, but is also applicable to other closed areas such as a logistics park, a mining area, etc. The present application provides a diagram of an unmanned truck operating in a closed area, as shown in FIG. 1. Figure 2

[0124] The closed area (for example, a port) is divided into an operation area and a charging area (i.e., the charging area described above), wherein the charging area can be further divided into an automatic charging area and a manual charging area. The scheduling server can schedule the vehicle to travel to the operation area to perform loading and unloading operations according to a loading and unloading operation task of the port; and the scheduling server can also schedule the vehicle to travel to the charging area to perform automatic charging or manual charging according to the power information of the vehicle.

[0125] The present application also provides an information interaction diagram of an unmanned truck, a scheduling server and an automatic charging pile, as shown in FIG. 2. Figure 3

[0126] The scheduling server can obtain the vehicle state information (including vehicle position information and power information) of the unmanned truck, and determine whether the vehicle needs to be charged. If the vehicle needs to be charged, the scheduling server issues a charging task and a driving path for charging to the vehicle; and if the vehicle does not need to be charged, the scheduling server arranges the vehicle to perform a loading and unloading task, and issues a loading and unloading task and a driving path to the operation area to the vehicle.

[0127] ​​The scheduling server can acquire automatic charging pile state information (normal state, charging, fault state), and schedule the vehicle to be charged according to the state of the charging pile.

[0128] After the unmanned container truck drives to the automatic charging pile and accurately parks, the scheduling server controls the charging process by issuing a charging start / end instruction to the unmanned container truck and the automatic charging pile; the scheduling server issues a gun insertion instruction to the automatic charging pile to control the charging gun of the automatic charging pile to perform gun insertion and gun extraction actions, and the automatic charging pile feeds back the gun insertion information to the scheduling server.

[0129] After successful gun insertion, the unmanned container truck feeds back the gun insertion state of the vehicle to the scheduling server. The automatic charging pile and the unmanned container truck communicate through a controller area network (CAN), and the charging process conforms to GB / T 27930-2015 "Communication Protocol between Electric Vehicle Non-vehicle Conductive Charger and Battery Management System". The unmanned container truck sends charging parameters, battery charging needs, and battery charging total state information to the automatic charging pile; the automatic charging pile sends charger maximum output capacity and charger charging information to the unmanned container truck.

[0130] After charging is completed, the automatic charging pile and the unmanned container truck will feed back the charging information and the charging termination reason to the scheduling server.

[0131] The embodiment of the application also provides a charging queuing scheduling method based on a task list and a vehicle list, as shown in Figure 4 .

[0132] In step S401, the port uploads the loading and unloading operation tasks to the scheduling server, and the scheduling server updates the loading and unloading operation task information in real time to form a task list.

[0133] In step S402, the scheduling server forms a vehicle list by acquiring vehicle position information and power information S v . i and required time T work of each vehicle in the vehicle list to complete each loading and unloading task in the task list are calculated.

[0134] S i =d i ×a+S j , (i=1,2,…n;j=1,2,…n;a>0)

[0135] In the formula, S i represents the predicted power consumption of the unmanned container truck to complete the ith operation task, i=1,2,…n; d i represents the distance of the unmanned container truck from the current position to the operation; a is a constant greater than zero, representing the power consumption per kilometer of the unmanned container truck; Sj represents the power consumption of the unmanned container truck in performing the i-th task, and j = i.

[0136] In order to improve the service life of the battery of the unmanned container truck, if the power of the vehicle is lower than S Low , that is, S v <S Low , the vehicle must be charged, S Low is a constant, representing the power at which the vehicle must be charged; if the power S v of the vehicle cannot complete the loading and unloading task, that is, S Low <S v <S i , charging is performed, and the scheduling server moves the vehicle that needs to be charged from the vehicle list to the charging list; if the power of the vehicle can complete the task, that is, S v >S i , the vehicle is moved to the task list, and the tasks are assigned to each vehicle according to the time T work required to complete the task, that is, 4 loading and unloading tasks are performed per hour per vehicle.

[0137] In step S403, the charging list is divided into automatic charging and manual charging. Because the number of automatic charging piles is larger than that of manual charging piles, and the charging speed of the automatic charging piles is faster than that of the manual charging piles, the unmanned container truck is preferentially arranged to be charged, that is, when the vehicle that needs to be charged is moved to the charging list, it is first moved to the automatic charging. The vehicles in the charging list that are subjected to automatic charging are sorted in ascending order according to the power S v .

[0138] In step S404, each unmanned container truck can correspond to different charging strategies according to the power S N required for charging, that is, the charging power of each vehicle can be flexibly adjusted according to the task, and it is not necessary to fully charge each time.

[0139] S N =∑S k +d ck ×a, (k = 1, 2, … n)

[0140] S N <S max -S Low

[0141] In the formula, S N represents the power required for charging of the unmanned container truck before performing the task according to the task that has been assigned, S N should be between the maximum power of the unmanned container truck and the power at which the vehicle must be charged; S Low is a constant, representing the power at which the vehicle must be charged; S max is a constant, representing the maximum power of the battery of the unmanned container truck; and ∑S kd represents the total pre-consumption of electricity for the k-th unmanned truck to perform its task; ck This represents the distance the unmanned truck travels from the charging area to the operating area; 'a' is a constant greater than zero, representing the power consumption of the unmanned truck per kilometer.

[0142] Since charging capacity and charging time change non-linearly, to reduce computational complexity, the battery's SOC (State of Charge) and charging time (in minutes) are calculated based on the Musk charging curve. The Musk charging curve is shown below:

[0143] I = I0 × e -αt α=I0 / S N

[0144] S N =1-(∫Idt) / Q

[0145] In the formula, t represents the charging time; I represents the charging current, the magnitude of which varies with time t; I0 ​​represents the initial charging current; S N α represents the required power; α represents the charge acceptance ratio, which is the ratio of the initial charging current to the capacity to be charged; Q represents the rated capacity of the battery.

[0146] Step S405: Add the time taken to charge the vehicle to the required amount of electricity and the travel time to the charging station to calculate the queuing priority. Sort the vehicles for automatic charging according to their priority numbers, from smallest to largest, with the highest priority number being the lowest. Move the lowest priority vehicle from automatic charging to manual charging in the charging list. Priority calculation formula:

[0147] T drive (k) ＝ d dk / v k k = 1, 2, ... n

[0148] P ev (k)=T charging (k)+T drive (k)

[0149] In the formula, d dk This represents the distance traveled by the k-th unmanned truck to the charging station; v k P represents the speed of the k-th unmanned truck; ev (k) represents the charging priority of the kth unmanned truck; T charging (k) represents the time required for the k-th unmanned truck to charge to the required power level; T drive (k) represents the travel time of the kth unmanned truck to the charging station.

[0150] Step S406: After charging is complete, move the vehicle from the charging list to the task list.

[0151] This application also provides a flowchart of a port unmanned truck charging fault handling method based on a charging queuing scheduling method using a task list and a vehicle list, as shown in the embodiments. Figure 5 As shown:

[0152] In step S501, before a vehicle performs a loading and unloading task, the scheduling server needs to estimate the power consumption required to complete the loading and unloading task based on the duration of the loading and unloading operation. If the vehicle's power is sufficient to complete the loading and unloading task, then the loading and unloading task will be executed; if the vehicle's power is insufficient to complete the loading and unloading task, then the vehicle will be charged.

[0153] In step S502, the scheduling server allocates vehicles for charging according to the charging queuing scheduling method based on the task list and the vehicle list.

[0154] Step S503: During the automatic charging process, the scheduling server monitors the automatic charging process.

[0155] Step S504: Determine whether automatic charging was successful. If automatic charging is successful, the vehicle will perform loading and unloading operations after charging ends; if automatic charging fails, the dispatch server will select the appropriate handling method based on the reason for charging interruption reported by the vehicle.

[0156] In step S505, the scheduling server handles the fault according to GB / T 27930-2015 "Communication Protocol between Off-board Conductive Charger and Battery Management System for Electric Vehicles".

[0157] Step S506: Determine if the automatic charging equipment is faulty. If the automatic charging equipment is faulty, switch the vehicle to manual charging mode; if the vehicle itself is faulty, stop charging; if the vehicle is not faulty, try automatic charging again.

[0158] The vehicle charging queuing scheduling method proposed in this application has the following advantages: Firstly, compared with existing automatic charging schemes, the charging queuing scheduling method based on task lists and vehicle lists combines vehicle charging with loading and unloading tasks. This allows for flexible scheduling of vehicle charging and loading / unloading tasks based on the on-site loading and unloading situation. The scheduling server, by controlling the required power supply, ensures that vehicles do not have to wait until they are fully charged before performing loading and unloading tasks, reducing vehicle charging queuing time, improving vehicle charging efficiency and loading / unloading efficiency, and enhancing the port's operational capacity.

[0159] On the other hand, by adding automatic charging equipment to the existing manual charging equipment in the enclosed area, and using both devices simultaneously, the combination of automatic and manual charging solutions can improve charging efficiency compared to using only automatic or manual charging, maximizing equipment utilization. Furthermore, if one charging device malfunctions, the other can be selected without affecting port operations.

[0160] In addition, the algorithm of this application has strong site compatibility. For example, in closed areas such as ports, the location of newly added equipment can be flexibly adjusted according to the original site design without making too many site changes.

[0161] Based on the vehicle charging queuing scheduling method provided in the above embodiments, this application also provides specific implementation methods of the vehicle charging queuing scheduling device. Please refer to the following embodiments.

[0162] Please see Figure 6 The vehicle charging queuing scheduling device 600 provided in this application embodiment is applied to a scheduling server and may include the following modules: a first acquisition module 601, a first determination module 602, a second determination module 603, and a sending module 604.

[0163] The first acquisition module 601 is used to acquire the required power, remaining power and travel time of each vehicle in the queue of at least one vehicle waiting to be charged. The required power is the power consumed by the vehicle waiting to be charged to complete the task, and the travel time is the time it takes for the vehicle waiting to be charged to travel from its current location to the charging equipment.

[0164] The first determining module 602 is used to determine the charging time of each vehicle in the charging queue based on the required electricity of each vehicle in the charging queue.

[0165] The second determining module 603 is used to determine the charging priority of at least one vehicle in the charging queue based on the charging time and driving time of each vehicle in the charging queue.

[0166] The sending module 604 is used to send charging priorities to at least one vehicle waiting in the charging queue, wherein the charging priorities are used for at least one vehicle waiting in the charging queue to be charged by the charging equipment in order of charging priority.

[0167] The vehicle charging queuing scheduling device of this application embodiment is applied to a scheduling server. It can determine the charging time of each vehicle in the queue based on its required electricity consumption, and determine the charging priority of at least one vehicle based on its charging and travel times. Finally, the scheduling server sends the charging task and location information of the charging area to at least one vehicle in the queue according to the charging priority. The charging priority is used to ensure that at least one vehicle in the queue charges through the charging equipment in that order. Thus, in this embodiment, the charging priority of at least one vehicle in the queue can be determined based on its charging and travel times, allowing each vehicle to charge through the charging equipment in that order and quickly reach the required electricity to perform its task, thereby improving the overall operational efficiency of the enclosed area.

[0168] In some embodiments, in order to accurately calculate the travel time of each vehicle waiting in the charging queue, the device 600 may further include:

[0169] The second acquisition module is used to acquire the first distance and speed information of each vehicle waiting to be charged in the queue. The first distance is the distance that the vehicle waiting to be charged in the queue travels from its current position to the charging area.

[0170] The third determining module is used to determine the travel time of each vehicle waiting to be charged based on the first distance and speed information of each vehicle in the charging queue.

[0171] In some embodiments, in order to accurately calculate the power demand of each vehicle waiting in the charging queue, the first acquisition module 601 may specifically include:

[0172] The acquisition unit is used to acquire the operation task information of each vehicle waiting to be charged. The operation task information includes the pre-consumption of power for the vehicle waiting to be charged to perform the operation task and the second distance of the operation task. The second distance is the distance that the vehicle waiting to be charged travels from the charging area to the operation area, and the pre-consumption of power is the power consumption that the vehicle waiting to be charged is expected to consume to complete the operation task.

[0173] The first determining unit is used to determine the first driving power consumption of each vehicle waiting to be charged based on the second distance value of each vehicle waiting to be charged.

[0174] The summation unit is used to add the pre-consumption power and the first driving power consumption of each vehicle waiting to be charged to obtain the power demand of each vehicle waiting to be charged.

[0175] As one implementation of this application, in order to accurately calculate the charging time of each vehicle waiting in the charging queue, the aforementioned device 600 may further include:

[0176] The third acquisition module is used to acquire the initial charging current of the charging equipment and the rated battery capacity of each vehicle waiting to be charged in the queue.

[0177] The first determining module 602 is specifically used to determine the charging time of each vehicle in the charging queue based on the required power, rated battery capacity, and initial charging current of each vehicle in the charging queue.

[0178] In some embodiments, the first determining module 602 described above may specifically include:

[0179] The calculation unit is used to calculate the ratio of the initial charging current to the required power of each vehicle waiting in the charging queue, and to determine the charging acceptance ratio of each vehicle waiting in the charging queue.

[0180] The second determining unit is used to determine the charging current of each vehicle in the charging queue based on the charging acceptance ratio and the initial charging current of each vehicle in the charging queue.

[0181] The third determining unit is used to determine the charging time of each vehicle in the charging queue based on the charging current, battery rated capacity, and required power of each vehicle in the charging queue.

[0182] As another implementation of this application, in order to accurately identify vehicles queuing for charging, the device 600 may further include:

[0183] The fourth acquisition module is used to acquire the remaining battery power of at least one vehicle with a task to be performed.

[0184] The fourth determination module is used to determine the vehicle to be charged as a vehicle to be charged when the remaining battery power of the vehicle to be charged is less than or equal to the first threshold.

[0185] The fifth acquisition module is used to acquire the number of vehicles to be charged and the number of idle charging devices. Idle charging devices are charging devices in normal condition.

[0186] The fifth determination module is used to determine the vehicles to be charged as vehicles to be queued for charging when the number of devices is less than the number of vehicles.

[0187] In some embodiments, to improve the overall operational efficiency of the enclosed area, the device 600 may further include:

[0188] The sixth acquisition module acquires the task information of the vehicle to be assigned when the remaining power of the vehicle is greater than the first threshold. The task information includes the pre-consumption of power of the vehicle to be assigned to perform the first task and the third distance of the first task.

[0189] The sixth determining module is used to determine the second driving power consumption of the vehicle to be tasked based on the third distance of the vehicle to be tasked.

[0190] The seventh determining module is used to determine the required sub-electricity of the vehicle to be operated based on the pre-consumption sub-electricity and the second driving sub-electricity consumption of the vehicle to be operated.

[0191] The eighth determination module is used to determine the vehicle to be charged when the remaining power of the vehicle to be charged is less than the required sub-power.

[0192] As one implementation of this application, in order to improve the operating efficiency of vehicles queuing for charging, the above-mentioned device 600 may further include:

[0193] The first sending module is used to send a charging command to the charging equipment. The charging command is used by the charging equipment to charge the vehicles waiting in the charging queue.

[0194] The receiving module is used to receive charging result information sent by vehicles waiting in the charging queue. The charging result information indicates whether the charging of the vehicles waiting in the charging queue is successful or unsuccessful.

[0195] The second sending module is used to send an execution command to the vehicle waiting to be charged when the charging result information indicates that the vehicle has been successfully charged. The execution command is used by the vehicle waiting to be charged to perform the operation task.

[0196] In some embodiments, to improve the charging success rate of vehicles waiting in the charging queue, the device 600 may further include:

[0197] The seventh acquisition module is used to acquire the charging interruption reason sent by the vehicle waiting to be charged when the charging result information indicates that the charging has failed.

[0198] The ninth determination module is used to determine the target handling scheme corresponding to the cause of charging interruption among a number of preset fault handling schemes.

[0199] The processing module is used to execute the target processing plan so that vehicles waiting in the charging queue can continue to charge.

[0200] Figure 7 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.

[0201] An electronic device may include a processor 701 and a memory 702 storing computer program instructions.

[0202] Specifically, the processor 701 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0203] Memory 702 may include mass storage for data or instructions. For example, and not limitingly, memory 702 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 702 may include removable or non-removable (or fixed) media. Where appropriate, memory 702 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 702 is non-volatile solid-state memory.

[0204] In a particular embodiment, memory 702 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, generally, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.

[0205] The processor 701 reads and executes computer program instructions stored in the memory 702 to implement any of the vehicle charging queuing scheduling methods in the above embodiments.

[0206] In one example, the electronic device may also include a communication interface 703 and a bus 710. For example, Figure 7 As shown, the processor 701, memory 702, and communication interface 703 are connected through bus 710 and complete communication with each other.

[0207] The communication interface 703 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0208] Bus 710 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 710 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0209] The electronic device can execute the vehicle charging queuing scheduling method in the embodiments of this application, thereby achieving a combination of Figure 1 and Figure 6 The method and apparatus for vehicle charging queuing scheduling are described.

[0210] Furthermore, in conjunction with the vehicle charging queuing scheduling method in the above embodiments, this application embodiment can provide a computer-readable storage medium for implementation. This computer-readable storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the vehicle charging queuing scheduling methods in the above embodiments.

[0211] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0212] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0213] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0214] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0215] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A vehicle charging queuing scheduling method, characterized in that, The method is applied to a scheduling server and comprises the following steps: obtaining the required power, the residual power and the driving time of each of the at least one charging queue vehicle, wherein the required power is the power consumed by the charging queue vehicle to complete a task, and the driving time is the time for the charging queue vehicle to drive from the current position to the charging device; determining the charging time of each of the at least one charging queue vehicle based on the required power of each of the at least one charging queue vehicle; determining the charging priority of each of the at least one charging queue vehicle based on the charging time and the driving time of each of the at least one charging queue vehicle; sending the charging priority to the at least one charging queue vehicle, wherein the charging priority is used for the at least one charging queue vehicle to charge in the order of the charging priority through the charging device; the step of obtaining the required power of each of the at least one charging queue vehicle comprises the following steps: obtaining the task information of each of the at least one charging queue vehicle, wherein the task information comprises the pre-consumed power of the charging queue vehicle to execute the task and the second distance of the task, the second distance is the distance from the charging area to the task area of the charging queue vehicle, and the pre-consumed power is the power consumed by the charging queue vehicle to execute the task; determining the first driving power consumption of each of the at least one charging queue vehicle according to the second distance of each of the at least one charging queue vehicle; adding the pre-consumed power and the first driving power consumption of each of the at least one charging queue vehicle to obtain the required power of each of the at least one charging queue vehicle.

2. The vehicle charging queuing scheduling method of claim 1, wherein, Before the step of obtaining the required power, the residual power and the driving time of each of the at least one charging queue vehicle, the method further comprises the following steps: obtaining the first distance and the speed information of each of the at least one charging queue vehicle, wherein the first distance is the distance from the current position to the charging area of the charging queue vehicle; determining the driving time of each of the at least one charging queue vehicle based on the first distance and the speed information of each of the at least one charging queue vehicle.

3. The vehicle charging queuing scheduling method of claim 1, wherein, Before the step of determining the charging time of each of the at least one charging queue vehicle based on the required power of each of the at least one charging queue vehicle, the method further comprises the following steps: obtaining the initial charging current of the charging device and the battery rated capacity of each of the at least one charging queue vehicle; the step of determining the charging time of each of the at least one charging queue vehicle based on the required power of each of the at least one charging queue vehicle comprises the following steps: determining the charging time of each of the at least one charging queue vehicle based on the required power, the battery rated capacity and the initial charging current of each of the at least one charging queue vehicle.

4. The vehicle charging queuing scheduling method of claim 3, wherein, the step of determining the charging time of each of the at least one charging queue vehicle based on the required power, the battery rated capacity and the initial charging current of each of the at least one charging queue vehicle comprises the following steps: calculating the ratio of the initial charging current to the required power of each of the at least one charging queue vehicle to determine the charging acceptance ratio of each of the at least one charging queue vehicle; determining the charging current of each of the at least one charging queue vehicle based on the charging acceptance ratio and the initial charging current of each of the at least one charging queue vehicle. Determine a charging duration of each of the at least one queuing vehicle based on a charging current, a battery rated capacity and a required power of each of the at least one queuing vehicle.

5. The vehicle charging queuing scheduling method of claim 1, wherein, Before the step of obtaining the required power, the remaining power and the driving duration of each of the at least one queuing vehicle, the method further comprises: Obtaining a remaining power of at least one task vehicle; In a case that the remaining power of the task vehicle is less than or equal to a first threshold, determining the task vehicle as a charging vehicle; Obtaining a number of the charging vehicles and a number of idle charging devices, the idle charging device being a charging device in a normal state; In a case that the number of the idle charging devices is less than the number of the charging vehicles, determining the charging vehicle as the queuing vehicle.

6. The vehicle charging queuing scheduling method of claim 5, wherein, Before the step of obtaining the number of the charging vehicles and the number of the idle charging devices, the method further comprises: In a case that the remaining power of the task vehicle is greater than the first threshold, obtaining task information of the task vehicle, the task information comprising a pre-consumed power of a first sub-task of the task vehicle and a third distance of the first sub-task, the third distance being a distance from a current position of the task vehicle to a work area; Determining a second driving power consumption of the task vehicle based on the third distance of the task vehicle; Determining a required sub-power of the task vehicle based on the pre-consumed power of the task vehicle and the second driving power consumption; In a case that the remaining power of the task vehicle is less than the required sub-power, determining the task vehicle as the charging vehicle.

7. The vehicle charging queuing scheduling method of claim 1, wherein, After the step of sending the charging priority to the at least one queuing vehicle, the method further comprises: Sending a charging instruction to the charging device, the charging instruction being used for the charging device to charge the queuing vehicle; Receiving charging result information sent by the queuing vehicle, the charging result information indicating a charging success or a charging failure of the queuing vehicle; In a case that the charging result information indicates the charging success of the queuing vehicle, sending an execution instruction to the queuing vehicle, the execution instruction being used for the queuing vehicle to execute the task.

8. The vehicle charging queuing scheduling method of claim 7, wherein, After the step of receiving the charging result information sent by the queuing vehicle, the method further comprises: In a case that the charging result information indicates the charging failure of the queuing vehicle, obtaining a charging suspension reason sent by the queuing vehicle; Determining a target processing scheme corresponding to the charging suspension reason from a plurality of preset failure processing schemes; Executing the target processing scheme to make the queuing vehicle continue charging.

9. A vehicle charging queuing scheduling apparatus characterized by comprising: The device is applied to a scheduling server and comprises: The first obtaining module is configured to obtain a required power, a residual power and a driving duration of each of the at least one queuing vehicle to be charged, the required power being a power consumed by the queuing vehicle to be charged to complete a work task, and the driving duration being a duration for the queuing vehicle to be charged to travel from a current position to a charging device; The first determining module is configured to determine a charging duration of each of the queuing vehicles to be charged based on the required power of each of the queuing vehicles to be charged; The second determining module is configured to determine a charging priority of the at least one queuing vehicle to be charged based on the charging duration and the driving duration of each of the queuing vehicles to be charged; The sending module is configured to send the charging priority to the at least one queuing vehicle to be charged, wherein the charging priority is used for the at least one queuing vehicle to be charged to be charged by the charging device in an order of the charging priority; The first obtaining module comprises: An obtaining unit is configured to obtain work task information of each of the queuing vehicles to be charged, the work task information comprising a pre-consumed power of the queuing vehicle to be charged to perform the work task and a second distance of the work task, the second distance being a distance for the queuing vehicle to be charged to travel from a charging area to a work area, and the pre-consumed power being a power consumed by the queuing vehicle to be charged to perform the work task; A first determining unit is configured to determine a first driving power consumption of each of the queuing vehicles to be charged according to the second distance of each of the queuing vehicles to be charged; An adding unit is configured to add the pre-consumed power and the first driving power consumption of each of the queuing vehicles to be charged to obtain the required power of each of the queuing vehicles to be charged.

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